within OpenMBS.Interfaces;

connector Port

  Real r[3]; // Radius vector of masscenter
  Real v[3]; // Velocity vector of masscenter
  Real a[3]; // Acceleration vector of masscenter
  Real T[3, 3]; // Matrix of rotation
  Real omega[3]; // Vector of angular rate
  Real epsilon[3]; // Vector of angular acceleration

  Real P[3];
  Real F[3];
  Real M[3];

end Port;
